(function(f){if(typeof exports==="object"&&typeof module!=="undefined"){module.exports=f()}else if(typeof define==="function"&&define.amd){define([],f)}else{var g;if(typeof window!=="undefined"){g=window}else if(typeof global!=="undefined"){g=global}else if(typeof self!=="undefined"){g=self}else{g=this}g.Sdk3dRudder = f()}})(function(){var define,module,exports;return (function e(t,n,r){function s(o,u){if(!n[o]){if(!t[o]){var a=typeof require=="function"&&require;if(!u&&a)return a(o,!0);if(i)return i(o,!0);var f=new Error("Cannot find module '"+o+"'");throw f.code="MODULE_NOT_FOUND",f}var l=n[o]={exports:{}};t[o][0].call(l.exports,function(e){var n=t[o][1][e];return s(n?n:e)},l,l.exports,e,t,n,r)}return n[o].exports}var i=typeof require=="function"&&require;for(var o=0;o<r.length;o++)s(r[o]);return s})({1:[function(require,module,exports){

},{}],2:[function(require,module,exports){
// shim for using process in browser
var process = module.exports = {};

// cached from whatever global is present so that test runners that stub it
// don't break things.  But we need to wrap it in a try catch in case it is
// wrapped in strict mode code which doesn't define any globals.  It's inside a
// function because try/catches deoptimize in certain engines.

var cachedSetTimeout;
var cachedClearTimeout;

function defaultSetTimout() {
    throw new Error('setTimeout has not been defined');
}
function defaultClearTimeout () {
    throw new Error('clearTimeout has not been defined');
}
(function () {
    try {
        if (typeof setTimeout === 'function') {
            cachedSetTimeout = setTimeout;
        } else {
            cachedSetTimeout = defaultSetTimout;
        }
    } catch (e) {
        cachedSetTimeout = defaultSetTimout;
    }
    try {
        if (typeof clearTimeout === 'function') {
            cachedClearTimeout = clearTimeout;
        } else {
            cachedClearTimeout = defaultClearTimeout;
        }
    } catch (e) {
        cachedClearTimeout = defaultClearTimeout;
    }
} ())
function runTimeout(fun) {
    if (cachedSetTimeout === setTimeout) {
        //normal enviroments in sane situations
        return setTimeout(fun, 0);
    }
    // if setTimeout wasn't available but was latter defined
    if ((cachedSetTimeout === defaultSetTimout || !cachedSetTimeout) && setTimeout) {
        cachedSetTimeout = setTimeout;
        return setTimeout(fun, 0);
    }
    try {
        // when when somebody has screwed with setTimeout but no I.E. maddness
        return cachedSetTimeout(fun, 0);
    } catch(e){
        try {
            // When we are in I.E. but the script has been evaled so I.E. doesn't trust the global object when called normally
            return cachedSetTimeout.call(null, fun, 0);
        } catch(e){
            // same as above but when it's a version of I.E. that must have the global object for 'this', hopfully our context correct otherwise it will throw a global error
            return cachedSetTimeout.call(this, fun, 0);
        }
    }


}
function runClearTimeout(marker) {
    if (cachedClearTimeout === clearTimeout) {
        //normal enviroments in sane situations
        return clearTimeout(marker);
    }
    // if clearTimeout wasn't available but was latter defined
    if ((cachedClearTimeout === defaultClearTimeout || !cachedClearTimeout) && clearTimeout) {
        cachedClearTimeout = clearTimeout;
        return clearTimeout(marker);
    }
    try {
        // when when somebody has screwed with setTimeout but no I.E. maddness
        return cachedClearTimeout(marker);
    } catch (e){
        try {
            // When we are in I.E. but the script has been evaled so I.E. doesn't  trust the global object when called normally
            return cachedClearTimeout.call(null, marker);
        } catch (e){
            // same as above but when it's a version of I.E. that must have the global object for 'this', hopfully our context correct otherwise it will throw a global error.
            // Some versions of I.E. have different rules for clearTimeout vs setTimeout
            return cachedClearTimeout.call(this, marker);
        }
    }



}
var queue = [];
var draining = false;
var currentQueue;
var queueIndex = -1;

function cleanUpNextTick() {
    if (!draining || !currentQueue) {
        return;
    }
    draining = false;
    if (currentQueue.length) {
        queue = currentQueue.concat(queue);
    } else {
        queueIndex = -1;
    }
    if (queue.length) {
        drainQueue();
    }
}

function drainQueue() {
    if (draining) {
        return;
    }
    var timeout = runTimeout(cleanUpNextTick);
    draining = true;

    var len = queue.length;
    while(len) {
        currentQueue = queue;
        queue = [];
        while (++queueIndex < len) {
            if (currentQueue) {
                currentQueue[queueIndex].run();
            }
        }
        queueIndex = -1;
        len = queue.length;
    }
    currentQueue = null;
    draining = false;
    runClearTimeout(timeout);
}

process.nextTick = function (fun) {
    var args = new Array(arguments.length - 1);
    if (arguments.length > 1) {
        for (var i = 1; i < arguments.length; i++) {
            args[i - 1] = arguments[i];
        }
    }
    queue.push(new Item(fun, args));
    if (queue.length === 1 && !draining) {
        runTimeout(drainQueue);
    }
};

// v8 likes predictible objects
function Item(fun, array) {
    this.fun = fun;
    this.array = array;
}
Item.prototype.run = function () {
    this.fun.apply(null, this.array);
};
process.title = 'browser';
process.browser = true;
process.env = {};
process.argv = [];
process.version = ''; // empty string to avoid regexp issues
process.versions = {};

function noop() {}

process.on = noop;
process.addListener = noop;
process.once = noop;
process.off = noop;
process.removeListener = noop;
process.removeAllListeners = noop;
process.emit = noop;
process.prependListener = noop;
process.prependOnceListener = noop;

process.listeners = function (name) { return [] }

process.binding = function (name) {
    throw new Error('process.binding is not supported');
};

process.cwd = function () { return '/' };
process.chdir = function (dir) {
    throw new Error('process.chdir is not supported');
};
process.umask = function() { return 0; };

},{}],3:[function(require,module,exports){
// Copyright Joyent, Inc. and other Node contributors.
//
// Permission is hereby granted, free of charge, to any person obtaining a
// copy of this software and associated documentation files (the
// "Software"), to deal in the Software without restriction, including
// without limitation the rights to use, copy, modify, merge, publish,
// distribute, sublicense, and/or sell copies of the Software, and to permit
// persons to whom the Software is furnished to do so, subject to the
// following conditions:
//
// The above copyright notice and this permission notice shall be included
// in all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
// OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
// MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN
// NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
// DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
// OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
// USE OR OTHER DEALINGS IN THE SOFTWARE.

function EventEmitter() {
  this._events = this._events || {};
  this._maxListeners = this._maxListeners || undefined;
}
module.exports = EventEmitter;

// Backwards-compat with node 0.10.x
EventEmitter.EventEmitter = EventEmitter;

EventEmitter.prototype._events = undefined;
EventEmitter.prototype._maxListeners = undefined;

// By default EventEmitters will print a warning if more than 10 listeners are
// added to it. This is a useful default which helps finding memory leaks.
EventEmitter.defaultMaxListeners = 10;

// Obviously not all Emitters should be limited to 10. This function allows
// that to be increased. Set to zero for unlimited.
EventEmitter.prototype.setMaxListeners = function(n) {
  if (!isNumber(n) || n < 0 || isNaN(n))
    throw TypeError('n must be a positive number');
  this._maxListeners = n;
  return this;
};

EventEmitter.prototype.emit = function(type) {
  var er, handler, len, args, i, listeners;

  if (!this._events)
    this._events = {};

  // If there is no 'error' event listener then throw.
  if (type === 'error') {
    if (!this._events.error ||
        (isObject(this._events.error) && !this._events.error.length)) {
      er = arguments[1];
      if (er instanceof Error) {
        throw er; // Unhandled 'error' event
      } else {
        // At least give some kind of context to the user
        var err = new Error('Uncaught, unspecified "error" event. (' + er + ')');
        err.context = er;
        throw err;
      }
    }
  }

  handler = this._events[type];

  if (isUndefined(handler))
    return false;

  if (isFunction(handler)) {
    switch (arguments.length) {
      // fast cases
      case 1:
        handler.call(this);
        break;
      case 2:
        handler.call(this, arguments[1]);
        break;
      case 3:
        handler.call(this, arguments[1], arguments[2]);
        break;
      // slower
      default:
        args = Array.prototype.slice.call(arguments, 1);
        handler.apply(this, args);
    }
  } else if (isObject(handler)) {
    args = Array.prototype.slice.call(arguments, 1);
    listeners = handler.slice();
    len = listeners.length;
    for (i = 0; i < len; i++)
      listeners[i].apply(this, args);
  }

  return true;
};

EventEmitter.prototype.addListener = function(type, listener) {
  var m;

  if (!isFunction(listener))
    throw TypeError('listener must be a function');

  if (!this._events)
    this._events = {};

  // To avoid recursion in the case that type === "newListener"! Before
  // adding it to the listeners, first emit "newListener".
  if (this._events.newListener)
    this.emit('newListener', type,
              isFunction(listener.listener) ?
              listener.listener : listener);

  if (!this._events[type])
    // Optimize the case of one listener. Don't need the extra array object.
    this._events[type] = listener;
  else if (isObject(this._events[type]))
    // If we've already got an array, just append.
    this._events[type].push(listener);
  else
    // Adding the second element, need to change to array.
    this._events[type] = [this._events[type], listener];

  // Check for listener leak
  if (isObject(this._events[type]) && !this._events[type].warned) {
    if (!isUndefined(this._maxListeners)) {
      m = this._maxListeners;
    } else {
      m = EventEmitter.defaultMaxListeners;
    }

    if (m && m > 0 && this._events[type].length > m) {
      this._events[type].warned = true;
      console.error('(node) warning: possible EventEmitter memory ' +
                    'leak detected. %d listeners added. ' +
                    'Use emitter.setMaxListeners() to increase limit.',
                    this._events[type].length);
      if (typeof console.trace === 'function') {
        // not supported in IE 10
        console.trace();
      }
    }
  }

  return this;
};

EventEmitter.prototype.on = EventEmitter.prototype.addListener;

EventEmitter.prototype.once = function(type, listener) {
  if (!isFunction(listener))
    throw TypeError('listener must be a function');

  var fired = false;

  function g() {
    this.removeListener(type, g);

    if (!fired) {
      fired = true;
      listener.apply(this, arguments);
    }
  }

  g.listener = listener;
  this.on(type, g);

  return this;
};

// emits a 'removeListener' event iff the listener was removed
EventEmitter.prototype.removeListener = function(type, listener) {
  var list, position, length, i;

  if (!isFunction(listener))
    throw TypeError('listener must be a function');

  if (!this._events || !this._events[type])
    return this;

  list = this._events[type];
  length = list.length;
  position = -1;

  if (list === listener ||
      (isFunction(list.listener) && list.listener === listener)) {
    delete this._events[type];
    if (this._events.removeListener)
      this.emit('removeListener', type, listener);

  } else if (isObject(list)) {
    for (i = length; i-- > 0;) {
      if (list[i] === listener ||
          (list[i].listener && list[i].listener === listener)) {
        position = i;
        break;
      }
    }

    if (position < 0)
      return this;

    if (list.length === 1) {
      list.length = 0;
      delete this._events[type];
    } else {
      list.splice(position, 1);
    }

    if (this._events.removeListener)
      this.emit('removeListener', type, listener);
  }

  return this;
};

EventEmitter.prototype.removeAllListeners = function(type) {
  var key, listeners;

  if (!this._events)
    return this;

  // not listening for removeListener, no need to emit
  if (!this._events.removeListener) {
    if (arguments.length === 0)
      this._events = {};
    else if (this._events[type])
      delete this._events[type];
    return this;
  }

  // emit removeListener for all listeners on all events
  if (arguments.length === 0) {
    for (key in this._events) {
      if (key === 'removeListener') continue;
      this.removeAllListeners(key);
    }
    this.removeAllListeners('removeListener');
    this._events = {};
    return this;
  }

  listeners = this._events[type];

  if (isFunction(listeners)) {
    this.removeListener(type, listeners);
  } else if (listeners) {
    // LIFO order
    while (listeners.length)
      this.removeListener(type, listeners[listeners.length - 1]);
  }
  delete this._events[type];

  return this;
};

EventEmitter.prototype.listeners = function(type) {
  var ret;
  if (!this._events || !this._events[type])
    ret = [];
  else if (isFunction(this._events[type]))
    ret = [this._events[type]];
  else
    ret = this._events[type].slice();
  return ret;
};

EventEmitter.prototype.listenerCount = function(type) {
  if (this._events) {
    var evlistener = this._events[type];

    if (isFunction(evlistener))
      return 1;
    else if (evlistener)
      return evlistener.length;
  }
  return 0;
};

EventEmitter.listenerCount = function(emitter, type) {
  return emitter.listenerCount(type);
};

function isFunction(arg) {
  return typeof arg === 'function';
}

function isNumber(arg) {
  return typeof arg === 'number';
}

function isObject(arg) {
  return typeof arg === 'object' && arg !== null;
}

function isUndefined(arg) {
  return arg === void 0;
}

},{}],4:[function(require,module,exports){
//     Underscore.js 1.8.3
//     http://underscorejs.org
//     (c) 2009-2015 Jeremy Ashkenas, DocumentCloud and Investigative Reporters & Editors
//     Underscore may be freely distributed under the MIT license.

(function() {

  // Baseline setup
  // --------------

  // Establish the root object, `window` in the browser, or `exports` on the server.
  var root = this;

  // Save the previous value of the `_` variable.
  var previousUnderscore = root._;

  // Save bytes in the minified (but not gzipped) version:
  var ArrayProto = Array.prototype, ObjProto = Object.prototype, FuncProto = Function.prototype;

  // Create quick reference variables for speed access to core prototypes.
  var
    push             = ArrayProto.push,
    slice            = ArrayProto.slice,
    toString         = ObjProto.toString,
    hasOwnProperty   = ObjProto.hasOwnProperty;

  // All **ECMAScript 5** native function implementations that we hope to use
  // are declared here.
  var
    nativeIsArray      = Array.isArray,
    nativeKeys         = Object.keys,
    nativeBind         = FuncProto.bind,
    nativeCreate       = Object.create;

  // Naked function reference for surrogate-prototype-swapping.
  var Ctor = function(){};

  // Create a safe reference to the Underscore object for use below.
  var _ = function(obj) {
    if (obj instanceof _) return obj;
    if (!(this instanceof _)) return new _(obj);
    this._wrapped = obj;
  };

  // Export the Underscore object for **Node.js**, with
  // backwards-compatibility for the old `require()` API. If we're in
  // the browser, add `_` as a global object.
  if (typeof exports !== 'undefined') {
    if (typeof module !== 'undefined' && module.exports) {
      exports = module.exports = _;
    }
    exports._ = _;
  } else {
    root._ = _;
  }

  // Current version.
  _.VERSION = '1.8.3';

  // Internal function that returns an efficient (for current engines) version
  // of the passed-in callback, to be repeatedly applied in other Underscore
  // functions.
  var optimizeCb = function(func, context, argCount) {
    if (context === void 0) return func;
    switch (argCount == null ? 3 : argCount) {
      case 1: return function(value) {
        return func.call(context, value);
      };
      case 2: return function(value, other) {
        return func.call(context, value, other);
      };
      case 3: return function(value, index, collection) {
        return func.call(context, value, index, collection);
      };
      case 4: return function(accumulator, value, index, collection) {
        return func.call(context, accumulator, value, index, collection);
      };
    }
    return function() {
      return func.apply(context, arguments);
    };
  };

  // A mostly-internal function to generate callbacks that can be applied
  // to each element in a collection, returning the desired result — either
  // identity, an arbitrary callback, a property matcher, or a property accessor.
  var cb = function(value, context, argCount) {
    if (value == null) return _.identity;
    if (_.isFunction(value)) return optimizeCb(value, context, argCount);
    if (_.isObject(value)) return _.matcher(value);
    return _.property(value);
  };
  _.iteratee = function(value, context) {
    return cb(value, context, Infinity);
  };

  // An internal function for creating assigner functions.
  var createAssigner = function(keysFunc, undefinedOnly) {
    return function(obj) {
      var length = arguments.length;
      if (length < 2 || obj == null) return obj;
      for (var index = 1; index < length; index++) {
        var source = arguments[index],
            keys = keysFunc(source),
            l = keys.length;
        for (var i = 0; i < l; i++) {
          var key = keys[i];
          if (!undefinedOnly || obj[key] === void 0) obj[key] = source[key];
        }
      }
      return obj;
    };
  };

  // An internal function for creating a new object that inherits from another.
  var baseCreate = function(prototype) {
    if (!_.isObject(prototype)) return {};
    if (nativeCreate) return nativeCreate(prototype);
    Ctor.prototype = prototype;
    var result = new Ctor;
    Ctor.prototype = null;
    return result;
  };

  var property = function(key) {
    return function(obj) {
      return obj == null ? void 0 : obj[key];
    };
  };

  // Helper for collection methods to determine whether a collection
  // should be iterated as an array or as an object
  // Related: http://people.mozilla.org/~jorendorff/es6-draft.html#sec-tolength
  // Avoids a very nasty iOS 8 JIT bug on ARM-64. #2094
  var MAX_ARRAY_INDEX = Math.pow(2, 53) - 1;
  var getLength = property('length');
  var isArrayLike = function(collection) {
    var length = getLength(collection);
    return typeof length == 'number' && length >= 0 && length <= MAX_ARRAY_INDEX;
  };

  // Collection Functions
  // --------------------

  // The cornerstone, an `each` implementation, aka `forEach`.
  // Handles raw objects in addition to array-likes. Treats all
  // sparse array-likes as if they were dense.
  _.each = _.forEach = function(obj, iteratee, context) {
    iteratee = optimizeCb(iteratee, context);
    var i, length;
    if (isArrayLike(obj)) {
      for (i = 0, length = obj.length; i < length; i++) {
        iteratee(obj[i], i, obj);
      }
    } else {
      var keys = _.keys(obj);
      for (i = 0, length = keys.length; i < length; i++) {
        iteratee(obj[keys[i]], keys[i], obj);
      }
    }
    return obj;
  };

  // Return the results of applying the iteratee to each element.
  _.map = _.collect = function(obj, iteratee, context) {
    iteratee = cb(iteratee, context);
    var keys = !isArrayLike(obj) && _.keys(obj),
        length = (keys || obj).length,
        results = Array(length);
    for (var index = 0; index < length; index++) {
      var currentKey = keys ? keys[index] : index;
      results[index] = iteratee(obj[currentKey], currentKey, obj);
    }
    return results;
  };

  // Create a reducing function iterating left or right.
  function createReduce(dir) {
    // Optimized iterator function as using arguments.length
    // in the main function will deoptimize the, see #1991.
    function iterator(obj, iteratee, memo, keys, index, length) {
      for (; index >= 0 && index < length; index += dir) {
        var currentKey = keys ? keys[index] : index;
        memo = iteratee(memo, obj[currentKey], currentKey, obj);
      }
      return memo;
    }

    return function(obj, iteratee, memo, context) {
      iteratee = optimizeCb(iteratee, context, 4);
      var keys = !isArrayLike(obj) && _.keys(obj),
          length = (keys || obj).length,
          index = dir > 0 ? 0 : length - 1;
      // Determine the initial value if none is provided.
      if (arguments.length < 3) {
        memo = obj[keys ? keys[index] : index];
        index += dir;
      }
      return iterator(obj, iteratee, memo, keys, index, length);
    };
  }

  // **Reduce** builds up a single result from a list of values, aka `inject`,
  // or `foldl`.
  _.reduce = _.foldl = _.inject = createReduce(1);

  // The right-associative version of reduce, also known as `foldr`.
  _.reduceRight = _.foldr = createReduce(-1);

  // Return the first value which passes a truth test. Aliased as `detect`.
  _.find = _.detect = function(obj, predicate, context) {
    var key;
    if (isArrayLike(obj)) {
      key = _.findIndex(obj, predicate, context);
    } else {
      key = _.findKey(obj, predicate, context);
    }
    if (key !== void 0 && key !== -1) return obj[key];
  };

  // Return all the elements that pass a truth test.
  // Aliased as `select`.
  _.filter = _.select = function(obj, predicate, context) {
    var results = [];
    predicate = cb(predicate, context);
    _.each(obj, function(value, index, list) {
      if (predicate(value, index, list)) results.push(value);
    });
    return results;
  };

  // Return all the elements for which a truth test fails.
  _.reject = function(obj, predicate, context) {
    return _.filter(obj, _.negate(cb(predicate)), context);
  };

  // Determine whether all of the elements match a truth test.
  // Aliased as `all`.
  _.every = _.all = function(obj, predicate, context) {
    predicate = cb(predicate, context);
    var keys = !isArrayLike(obj) && _.keys(obj),
        length = (keys || obj).length;
    for (var index = 0; index < length; index++) {
      var currentKey = keys ? keys[index] : index;
      if (!predicate(obj[currentKey], currentKey, obj)) return false;
    }
    return true;
  };

  // Determine if at least one element in the object matches a truth test.
  // Aliased as `any`.
  _.some = _.any = function(obj, predicate, context) {
    predicate = cb(predicate, context);
    var keys = !isArrayLike(obj) && _.keys(obj),
        length = (keys || obj).length;
    for (var index = 0; index < length; index++) {
      var currentKey = keys ? keys[index] : index;
      if (predicate(obj[currentKey], currentKey, obj)) return true;
    }
    return false;
  };

  // Determine if the array or object contains a given item (using `===`).
  // Aliased as `includes` and `include`.
  _.contains = _.includes = _.include = function(obj, item, fromIndex, guard) {
    if (!isArrayLike(obj)) obj = _.values(obj);
    if (typeof fromIndex != 'number' || guard) fromIndex = 0;
    return _.indexOf(obj, item, fromIndex) >= 0;
  };

  // Invoke a method (with arguments) on every item in a collection.
  _.invoke = function(obj, method) {
    var args = slice.call(arguments, 2);
    var isFunc = _.isFunction(method);
    return _.map(obj, function(value) {
      var func = isFunc ? method : value[method];
      return func == null ? func : func.apply(value, args);
    });
  };

  // Convenience version of a common use case of `map`: fetching a property.
  _.pluck = function(obj, key) {
    return _.map(obj, _.property(key));
  };

  // Convenience version of a common use case of `filter`: selecting only objects
  // containing specific `key:value` pairs.
  _.where = function(obj, attrs) {
    return _.filter(obj, _.matcher(attrs));
  };

  // Convenience version of a common use case of `find`: getting the first object
  // containing specific `key:value` pairs.
  _.findWhere = function(obj, attrs) {
    return _.find(obj, _.matcher(attrs));
  };

  // Return the maximum element (or element-based computation).
  _.max = function(obj, iteratee, context) {
    var result = -Infinity, lastComputed = -Infinity,
        value, computed;
    if (iteratee == null && obj != null) {
      obj = isArrayLike(obj) ? obj : _.values(obj);
      for (var i = 0, length = obj.length; i < length; i++) {
        value = obj[i];
        if (value > result) {
          result = value;
        }
      }
    } else {
      iteratee = cb(iteratee, context);
      _.each(obj, function(value, index, list) {
        computed = iteratee(value, index, list);
        if (computed > lastComputed || computed === -Infinity && result === -Infinity) {
          result = value;
          lastComputed = computed;
        }
      });
    }
    return result;
  };

  // Return the minimum element (or element-based computation).
  _.min = function(obj, iteratee, context) {
    var result = Infinity, lastComputed = Infinity,
        value, computed;
    if (iteratee == null && obj != null) {
      obj = isArrayLike(obj) ? obj : _.values(obj);
      for (var i = 0, length = obj.length; i < length; i++) {
        value = obj[i];
        if (value < result) {
          result = value;
        }
      }
    } else {
      iteratee = cb(iteratee, context);
      _.each(obj, function(value, index, list) {
        computed = iteratee(value, index, list);
        if (computed < lastComputed || computed === Infinity && result === Infinity) {
          result = value;
          lastComputed = computed;
        }
      });
    }
    return result;
  };

  // Shuffle a collection, using the modern version of the
  // [Fisher-Yates shuffle](http://en.wikipedia.org/wiki/Fisher–Yates_shuffle).
  _.shuffle = function(obj) {
    var set = isArrayLike(obj) ? obj : _.values(obj);
    var length = set.length;
    var shuffled = Array(length);
    for (var index = 0, rand; index < length; index++) {
      rand = _.random(0, index);
      if (rand !== index) shuffled[index] = shuffled[rand];
      shuffled[rand] = set[index];
    }
    return shuffled;
  };

  // Sample **n** random values from a collection.
  // If **n** is not specified, returns a single random element.
  // The internal `guard` argument allows it to work with `map`.
  _.sample = function(obj, n, guard) {
    if (n == null || guard) {
      if (!isArrayLike(obj)) obj = _.values(obj);
      return obj[_.random(obj.length - 1)];
    }
    return _.shuffle(obj).slice(0, Math.max(0, n));
  };

  // Sort the object's values by a criterion produced by an iteratee.
  _.sortBy = function(obj, iteratee, context) {
    iteratee = cb(iteratee, context);
    return _.pluck(_.map(obj, function(value, index, list) {
      return {
        value: value,
        index: index,
        criteria: iteratee(value, index, list)
      };
    }).sort(function(left, right) {
      var a = left.criteria;
      var b = right.criteria;
      if (a !== b) {
        if (a > b || a === void 0) return 1;
        if (a < b || b === void 0) return -1;
      }
      return left.index - right.index;
    }), 'value');
  };

  // An internal function used for aggregate "group by" operations.
  var group = function(behavior) {
    return function(obj, iteratee, context) {
      var result = {};
      iteratee = cb(iteratee, context);
      _.each(obj, function(value, index) {
        var key = iteratee(value, index, obj);
        behavior(result, value, key);
      });
      return result;
    };
  };

  // Groups the object's values by a criterion. Pass either a string attribute
  // to group by, or a function that returns the criterion.
  _.groupBy = group(function(result, value, key) {
    if (_.has(result, key)) result[key].push(value); else result[key] = [value];
  });

  // Indexes the object's values by a criterion, similar to `groupBy`, but for
  // when you know that your index values will be unique.
  _.indexBy = group(function(result, value, key) {
    result[key] = value;
  });

  // Counts instances of an object that group by a certain criterion. Pass
  // either a string attribute to count by, or a function that returns the
  // criterion.
  _.countBy = group(function(result, value, key) {
    if (_.has(result, key)) result[key]++; else result[key] = 1;
  });

  // Safely create a real, live array from anything iterable.
  _.toArray = function(obj) {
    if (!obj) return [];
    if (_.isArray(obj)) return slice.call(obj);
    if (isArrayLike(obj)) return _.map(obj, _.identity);
    return _.values(obj);
  };

  // Return the number of elements in an object.
  _.size = function(obj) {
    if (obj == null) return 0;
    return isArrayLike(obj) ? obj.length : _.keys(obj).length;
  };

  // Split a collection into two arrays: one whose elements all satisfy the given
  // predicate, and one whose elements all do not satisfy the predicate.
  _.partition = function(obj, predicate, context) {
    predicate = cb(predicate, context);
    var pass = [], fail = [];
    _.each(obj, function(value, key, obj) {
      (predicate(value, key, obj) ? pass : fail).push(value);
    });
    return [pass, fail];
  };

  // Array Functions
  // ---------------

  // Get the first element of an array. Passing **n** will return the first N
  // values in the array. Aliased as `head` and `take`. The **guard** check
  // allows it to work with `_.map`.
  _.first = _.head = _.take = function(array, n, guard) {
    if (array == null) return void 0;
    if (n == null || guard) return array[0];
    return _.initial(array, array.length - n);
  };

  // Returns everything but the last entry of the array. Especially useful on
  // the arguments object. Passing **n** will return all the values in
  // the array, excluding the last N.
  _.initial = function(array, n, guard) {
    return slice.call(array, 0, Math.max(0, array.length - (n == null || guard ? 1 : n)));
  };

  // Get the last element of an array. Passing **n** will return the last N
  // values in the array.
  _.last = function(array, n, guard) {
    if (array == null) return void 0;
    if (n == null || guard) return array[array.length - 1];
    return _.rest(array, Math.max(0, array.length - n));
  };

  // Returns everything but the first entry of the array. Aliased as `tail` and `drop`.
  // Especially useful on the arguments object. Passing an **n** will return
  // the rest N values in the array.
  _.rest = _.tail = _.drop = function(array, n, guard) {
    return slice.call(array, n == null || guard ? 1 : n);
  };

  // Trim out all falsy values from an array.
  _.compact = function(array) {
    return _.filter(array, _.identity);
  };

  // Internal implementation of a recursive `flatten` function.
  var flatten = function(input, shallow, strict, startIndex) {
    var output = [], idx = 0;
    for (var i = startIndex || 0, length = getLength(input); i < length; i++) {
      var value = input[i];
      if (isArrayLike(value) && (_.isArray(value) || _.isArguments(value))) {
        //flatten current level of array or arguments object
        if (!shallow) value = flatten(value, shallow, strict);
        var j = 0, len = value.length;
        output.length += len;
        while (j < len) {
          output[idx++] = value[j++];
        }
      } else if (!strict) {
        output[idx++] = value;
      }
    }
    return output;
  };

  // Flatten out an array, either recursively (by default), or just one level.
  _.flatten = function(array, shallow) {
    return flatten(array, shallow, false);
  };

  // Return a version of the array that does not contain the specified value(s).
  _.without = function(array) {
    return _.difference(array, slice.call(arguments, 1));
  };

  // Produce a duplicate-free version of the array. If the array has already
  // been sorted, you have the option of using a faster algorithm.
  // Aliased as `unique`.
  _.uniq = _.unique = function(array, isSorted, iteratee, context) {
    if (!_.isBoolean(isSorted)) {
      context = iteratee;
      iteratee = isSorted;
      isSorted = false;
    }
    if (iteratee != null) iteratee = cb(iteratee, context);
    var result = [];
    var seen = [];
    for (var i = 0, length = getLength(array); i < length; i++) {
      var value = array[i],
          computed = iteratee ? iteratee(value, i, array) : value;
      if (isSorted) {
        if (!i || seen !== computed) result.push(value);
        seen = computed;
      } else if (iteratee) {
        if (!_.contains(seen, computed)) {
          seen.push(computed);
          result.push(value);
        }
      } else if (!_.contains(result, value)) {
        result.push(value);
      }
    }
    return result;
  };

  // Produce an array that contains the union: each distinct element from all of
  // the passed-in arrays.
  _.union = function() {
    return _.uniq(flatten(arguments, true, true));
  };

  // Produce an array that contains every item shared between all the
  // passed-in arrays.
  _.intersection = function(array) {
    var result = [];
    var argsLength = arguments.length;
    for (var i = 0, length = getLength(array); i < length; i++) {
      var item = array[i];
      if (_.contains(result, item)) continue;
      for (var j = 1; j < argsLength; j++) {
        if (!_.contains(arguments[j], item)) break;
      }
      if (j === argsLength) result.push(item);
    }
    return result;
  };

  // Take the difference between one array and a number of other arrays.
  // Only the elements present in just the first array will remain.
  _.difference = function(array) {
    var rest = flatten(arguments, true, true, 1);
    return _.filter(array, function(value){
      return !_.contains(rest, value);
    });
  };

  // Zip together multiple lists into a single array -- elements that share
  // an index go together.
  _.zip = function() {
    return _.unzip(arguments);
  };

  // Complement of _.zip. Unzip accepts an array of arrays and groups
  // each array's elements on shared indices
  _.unzip = function(array) {
    var length = array && _.max(array, getLength).length || 0;
    var result = Array(length);

    for (var index = 0; index < length; index++) {
      result[index] = _.pluck(array, index);
    }
    return result;
  };

  // Converts lists into objects. Pass either a single array of `[key, value]`
  // pairs, or two parallel arrays of the same length -- one of keys, and one of
  // the corresponding values.
  _.object = function(list, values) {
    var result = {};
    for (var i = 0, length = getLength(list); i < length; i++) {
      if (values) {
        result[list[i]] = values[i];
      } else {
        result[list[i][0]] = list[i][1];
      }
    }
    return result;
  };

  // Generator function to create the findIndex and findLastIndex functions
  function createPredicateIndexFinder(dir) {
    return function(array, predicate, context) {
      predicate = cb(predicate, context);
      var length = getLength(array);
      var index = dir > 0 ? 0 : length - 1;
      for (; index >= 0 && index < length; index += dir) {
        if (predicate(array[index], index, array)) return index;
      }
      return -1;
    };
  }

  // Returns the first index on an array-like that passes a predicate test
  _.findIndex = createPredicateIndexFinder(1);
  _.findLastIndex = createPredicateIndexFinder(-1);

  // Use a comparator function to figure out the smallest index at which
  // an object should be inserted so as to maintain order. Uses binary search.
  _.sortedIndex = function(array, obj, iteratee, context) {
    iteratee = cb(iteratee, context, 1);
    var value = iteratee(obj);
    var low = 0, high = getLength(array);
    while (low < high) {
      var mid = Math.floor((low + high) / 2);
      if (iteratee(array[mid]) < value) low = mid + 1; else high = mid;
    }
    return low;
  };

  // Generator function to create the indexOf and lastIndexOf functions
  function createIndexFinder(dir, predicateFind, sortedIndex) {
    return function(array, item, idx) {
      var i = 0, length = getLength(array);
      if (typeof idx == 'number') {
        if (dir > 0) {
            i = idx >= 0 ? idx : Math.max(idx + length, i);
        } else {
            length = idx >= 0 ? Math.min(idx + 1, length) : idx + length + 1;
        }
      } else if (sortedIndex && idx && length) {
        idx = sortedIndex(array, item);
        return array[idx] === item ? idx : -1;
      }
      if (item !== item) {
        idx = predicateFind(slice.call(array, i, length), _.isNaN);
        return idx >= 0 ? idx + i : -1;
      }
      for (idx = dir > 0 ? i : length - 1; idx >= 0 && idx < length; idx += dir) {
        if (array[idx] === item) return idx;
      }
      return -1;
    };
  }

  // Return the position of the first occurrence of an item in an array,
  // or -1 if the item is not included in the array.
  // If the array is large and already in sort order, pass `true`
  // for **isSorted** to use binary search.
  _.indexOf = createIndexFinder(1, _.findIndex, _.sortedIndex);
  _.lastIndexOf = createIndexFinder(-1, _.findLastIndex);

  // Generate an integer Array containing an arithmetic progression. A port of
  // the native Python `range()` function. See
  // [the Python documentation](http://docs.python.org/library/functions.html#range).
  _.range = function(start, stop, step) {
    if (stop == null) {
      stop = start || 0;
      start = 0;
    }
    step = step || 1;

    var length = Math.max(Math.ceil((stop - start) / step), 0);
    var range = Array(length);

    for (var idx = 0; idx < length; idx++, start += step) {
      range[idx] = start;
    }

    return range;
  };

  // Function (ahem) Functions
  // ------------------

  // Determines whether to execute a function as a constructor
  // or a normal function with the provided arguments
  var executeBound = function(sourceFunc, boundFunc, context, callingContext, args) {
    if (!(callingContext instanceof boundFunc)) return sourceFunc.apply(context, args);
    var self = baseCreate(sourceFunc.prototype);
    var result = sourceFunc.apply(self, args);
    if (_.isObject(result)) return result;
    return self;
  };

  // Create a function bound to a given object (assigning `this`, and arguments,
  // optionally). Delegates to **ECMAScript 5**'s native `Function.bind` if
  // available.
  _.bind = function(func, context) {
    if (nativeBind && func.bind === nativeBind) return nativeBind.apply(func, slice.call(arguments, 1));
    if (!_.isFunction(func)) throw new TypeError('Bind must be called on a function');
    var args = slice.call(arguments, 2);
    var bound = function() {
      return executeBound(func, bound, context, this, args.concat(slice.call(arguments)));
    };
    return bound;
  };

  // Partially apply a function by creating a version that has had some of its
  // arguments pre-filled, without changing its dynamic `this` context. _ acts
  // as a placeholder, allowing any combination of arguments to be pre-filled.
  _.partial = function(func) {
    var boundArgs = slice.call(arguments, 1);
    var bound = function() {
      var position = 0, length = boundArgs.length;
      var args = Array(length);
      for (var i = 0; i < length; i++) {
        args[i] = boundArgs[i] === _ ? arguments[position++] : boundArgs[i];
      }
      while (position < arguments.length) args.push(arguments[position++]);
      return executeBound(func, bound, this, this, args);
    };
    return bound;
  };

  // Bind a number of an object's methods to that object. Remaining arguments
  // are the method names to be bound. Useful for ensuring that all callbacks
  // defined on an object belong to it.
  _.bindAll = function(obj) {
    var i, length = arguments.length, key;
    if (length <= 1) throw new Error('bindAll must be passed function names');
    for (i = 1; i < length; i++) {
      key = arguments[i];
      obj[key] = _.bind(obj[key], obj);
    }
    return obj;
  };

  // Memoize an expensive function by storing its results.
  _.memoize = function(func, hasher) {
    var memoize = function(key) {
      var cache = memoize.cache;
      var address = '' + (hasher ? hasher.apply(this, arguments) : key);
      if (!_.has(cache, address)) cache[address] = func.apply(this, arguments);
      return cache[address];
    };
    memoize.cache = {};
    return memoize;
  };

  // Delays a function for the given number of milliseconds, and then calls
  // it with the arguments supplied.
  _.delay = function(func, wait) {
    var args = slice.call(arguments, 2);
    return setTimeout(function(){
      return func.apply(null, args);
    }, wait);
  };

  // Defers a function, scheduling it to run after the current call stack has
  // cleared.
  _.defer = _.partial(_.delay, _, 1);

  // Returns a function, that, when invoked, will only be triggered at most once
  // during a given window of time. Normally, the throttled function will run
  // as much as it can, without ever going more than once per `wait` duration;
  // but if you'd like to disable the execution on the leading edge, pass
  // `{leading: false}`. To disable execution on the trailing edge, ditto.
  _.throttle = function(func, wait, options) {
    var context, args, result;
    var timeout = null;
    var previous = 0;
    if (!options) options = {};
    var later = function() {
      previous = options.leading === false ? 0 : _.now();
      timeout = null;
      result = func.apply(context, args);
      if (!timeout) context = args = null;
    };
    return function() {
      var now = _.now();
      if (!previous && options.leading === false) previous = now;
      var remaining = wait - (now - previous);
      context = this;
      args = arguments;
      if (remaining <= 0 || remaining > wait) {
        if (timeout) {
          clearTimeout(timeout);
          timeout = null;
        }
        previous = now;
        result = func.apply(context, args);
        if (!timeout) context = args = null;
      } else if (!timeout && options.trailing !== false) {
        timeout = setTimeout(later, remaining);
      }
      return result;
    };
  };

  // Returns a function, that, as long as it continues to be invoked, will not
  // be triggered. The function will be called after it stops being called for
  // N milliseconds. If `immediate` is passed, trigger the function on the
  // leading edge, instead of the trailing.
  _.debounce = function(func, wait, immediate) {
    var timeout, args, context, timestamp, result;

    var later = function() {
      var last = _.now() - timestamp;

      if (last < wait && last >= 0) {
        timeout = setTimeout(later, wait - last);
      } else {
        timeout = null;
        if (!immediate) {
          result = func.apply(context, args);
          if (!timeout) context = args = null;
        }
      }
    };

    return function() {
      context = this;
      args = arguments;
      timestamp = _.now();
      var callNow = immediate && !timeout;
      if (!timeout) timeout = setTimeout(later, wait);
      if (callNow) {
        result = func.apply(context, args);
        context = args = null;
      }

      return result;
    };
  };

  // Returns the first function passed as an argument to the second,
  // allowing you to adjust arguments, run code before and after, and
  // conditionally execute the original function.
  _.wrap = function(func, wrapper) {
    return _.partial(wrapper, func);
  };

  // Returns a negated version of the passed-in predicate.
  _.negate = function(predicate) {
    return function() {
      return !predicate.apply(this, arguments);
    };
  };

  // Returns a function that is the composition of a list of functions, each
  // consuming the return value of the function that follows.
  _.compose = function() {
    var args = arguments;
    var start = args.length - 1;
    return function() {
      var i = start;
      var result = args[start].apply(this, arguments);
      while (i--) result = args[i].call(this, result);
      return result;
    };
  };

  // Returns a function that will only be executed on and after the Nth call.
  _.after = function(times, func) {
    return function() {
      if (--times < 1) {
        return func.apply(this, arguments);
      }
    };
  };

  // Returns a function that will only be executed up to (but not including) the Nth call.
  _.before = function(times, func) {
    var memo;
    return function() {
      if (--times > 0) {
        memo = func.apply(this, arguments);
      }
      if (times <= 1) func = null;
      return memo;
    };
  };

  // Returns a function that will be executed at most one time, no matter how
  // often you call it. Useful for lazy initialization.
  _.once = _.partial(_.before, 2);

  // Object Functions
  // ----------------

  // Keys in IE < 9 that won't be iterated by `for key in ...` and thus missed.
  var hasEnumBug = !{toString: null}.propertyIsEnumerable('toString');
  var nonEnumerableProps = ['valueOf', 'isPrototypeOf', 'toString',
                      'propertyIsEnumerable', 'hasOwnProperty', 'toLocaleString'];

  function collectNonEnumProps(obj, keys) {
    var nonEnumIdx = nonEnumerableProps.length;
    var constructor = obj.constructor;
    var proto = (_.isFunction(constructor) && constructor.prototype) || ObjProto;

    // Constructor is a special case.
    var prop = 'constructor';
    if (_.has(obj, prop) && !_.contains(keys, prop)) keys.push(prop);

    while (nonEnumIdx--) {
      prop = nonEnumerableProps[nonEnumIdx];
      if (prop in obj && obj[prop] !== proto[prop] && !_.contains(keys, prop)) {
        keys.push(prop);
      }
    }
  }

  // Retrieve the names of an object's own properties.
  // Delegates to **ECMAScript 5**'s native `Object.keys`
  _.keys = function(obj) {
    if (!_.isObject(obj)) return [];
    if (nativeKeys) return nativeKeys(obj);
    var keys = [];
    for (var key in obj) if (_.has(obj, key)) keys.push(key);
    // Ahem, IE < 9.
    if (hasEnumBug) collectNonEnumProps(obj, keys);
    return keys;
  };

  // Retrieve all the property names of an object.
  _.allKeys = function(obj) {
    if (!_.isObject(obj)) return [];
    var keys = [];
    for (var key in obj) keys.push(key);
    // Ahem, IE < 9.
    if (hasEnumBug) collectNonEnumProps(obj, keys);
    return keys;
  };

  // Retrieve the values of an object's properties.
  _.values = function(obj) {
    var keys = _.keys(obj);
    var length = keys.length;
    var values = Array(length);
    for (var i = 0; i < length; i++) {
      values[i] = obj[keys[i]];
    }
    return values;
  };

  // Returns the results of applying the iteratee to each element of the object
  // In contrast to _.map it returns an object
  _.mapObject = function(obj, iteratee, context) {
    iteratee = cb(iteratee, context);
    var keys =  _.keys(obj),
          length = keys.length,
          results = {},
          currentKey;
      for (var index = 0; index < length; index++) {
        currentKey = keys[index];
        results[currentKey] = iteratee(obj[currentKey], currentKey, obj);
      }
      return results;
  };

  // Convert an object into a list of `[key, value]` pairs.
  _.pairs = function(obj) {
    var keys = _.keys(obj);
    var length = keys.length;
    var pairs = Array(length);
    for (var i = 0; i < length; i++) {
      pairs[i] = [keys[i], obj[keys[i]]];
    }
    return pairs;
  };

  // Invert the keys and values of an object. The values must be serializable.
  _.invert = function(obj) {
    var result = {};
    var keys = _.keys(obj);
    for (var i = 0, length = keys.length; i < length; i++) {
      result[obj[keys[i]]] = keys[i];
    }
    return result;
  };

  // Return a sorted list of the function names available on the object.
  // Aliased as `methods`
  _.functions = _.methods = function(obj) {
    var names = [];
    for (var key in obj) {
      if (_.isFunction(obj[key])) names.push(key);
    }
    return names.sort();
  };

  // Extend a given object with all the properties in passed-in object(s).
  _.extend = createAssigner(_.allKeys);

  // Assigns a given object with all the own properties in the passed-in object(s)
  // (https://developer.mozilla.org/docs/Web/JavaScript/Reference/Global_Objects/Object/assign)
  _.extendOwn = _.assign = createAssigner(_.keys);

  // Returns the first key on an object that passes a predicate test
  _.findKey = function(obj, predicate, context) {
    predicate = cb(predicate, context);
    var keys = _.keys(obj), key;
    for (var i = 0, length = keys.length; i < length; i++) {
      key = keys[i];
      if (predicate(obj[key], key, obj)) return key;
    }
  };

  // Return a copy of the object only containing the whitelisted properties.
  _.pick = function(object, oiteratee, context) {
    var result = {}, obj = object, iteratee, keys;
    if (obj == null) return result;
    if (_.isFunction(oiteratee)) {
      keys = _.allKeys(obj);
      iteratee = optimizeCb(oiteratee, context);
    } else {
      keys = flatten(arguments, false, false, 1);
      iteratee = function(value, key, obj) { return key in obj; };
      obj = Object(obj);
    }
    for (var i = 0, length = keys.length; i < length; i++) {
      var key = keys[i];
      var value = obj[key];
      if (iteratee(value, key, obj)) result[key] = value;
    }
    return result;
  };

   // Return a copy of the object without the blacklisted properties.
  _.omit = function(obj, iteratee, context) {
    if (_.isFunction(iteratee)) {
      iteratee = _.negate(iteratee);
    } else {
      var keys = _.map(flatten(arguments, false, false, 1), String);
      iteratee = function(value, key) {
        return !_.contains(keys, key);
      };
    }
    return _.pick(obj, iteratee, context);
  };

  // Fill in a given object with default properties.
  _.defaults = createAssigner(_.allKeys, true);

  // Creates an object that inherits from the given prototype object.
  // If additional properties are provided then they will be added to the
  // created object.
  _.create = function(prototype, props) {
    var result = baseCreate(prototype);
    if (props) _.extendOwn(result, props);
    return result;
  };

  // Create a (shallow-cloned) duplicate of an object.
  _.clone = function(obj) {
    if (!_.isObject(obj)) return obj;
    return _.isArray(obj) ? obj.slice() : _.extend({}, obj);
  };

  // Invokes interceptor with the obj, and then returns obj.
  // The primary purpose of this method is to "tap into" a method chain, in
  // order to perform operations on intermediate results within the chain.
  _.tap = function(obj, interceptor) {
    interceptor(obj);
    return obj;
  };

  // Returns whether an object has a given set of `key:value` pairs.
  _.isMatch = function(object, attrs) {
    var keys = _.keys(attrs), length = keys.length;
    if (object == null) return !length;
    var obj = Object(object);
    for (var i = 0; i < length; i++) {
      var key = keys[i];
      if (attrs[key] !== obj[key] || !(key in obj)) return false;
    }
    return true;
  };


  // Internal recursive comparison function for `isEqual`.
  var eq = function(a, b, aStack, bStack) {
    // Identical objects are equal. `0 === -0`, but they aren't identical.
    // See the [Harmony `egal` proposal](http://wiki.ecmascript.org/doku.php?id=harmony:egal).
    if (a === b) return a !== 0 || 1 / a === 1 / b;
    // A strict comparison is necessary because `null == undefined`.
    if (a == null || b == null) return a === b;
    // Unwrap any wrapped objects.
    if (a instanceof _) a = a._wrapped;
    if (b instanceof _) b = b._wrapped;
    // Compare `[[Class]]` names.
    var className = toString.call(a);
    if (className !== toString.call(b)) return false;
    switch (className) {
      // Strings, numbers, regular expressions, dates, and booleans are compared by value.
      case '[object RegExp]':
      // RegExps are coerced to strings for comparison (Note: '' + /a/i === '/a/i')
      case '[object String]':
        // Primitives and their corresponding object wrappers are equivalent; thus, `"5"` is
        // equivalent to `new String("5")`.
        return '' + a === '' + b;
      case '[object Number]':
        // `NaN`s are equivalent, but non-reflexive.
        // Object(NaN) is equivalent to NaN
        if (+a !== +a) return +b !== +b;
        // An `egal` comparison is performed for other numeric values.
        return +a === 0 ? 1 / +a === 1 / b : +a === +b;
      case '[object Date]':
      case '[object Boolean]':
        // Coerce dates and booleans to numeric primitive values. Dates are compared by their
        // millisecond representations. Note that invalid dates with millisecond representations
        // of `NaN` are not equivalent.
        return +a === +b;
    }

    var areArrays = className === '[object Array]';
    if (!areArrays) {
      if (typeof a != 'object' || typeof b != 'object') return false;

      // Objects with different constructors are not equivalent, but `Object`s or `Array`s
      // from different frames are.
      var aCtor = a.constructor, bCtor = b.constructor;
      if (aCtor !== bCtor && !(_.isFunction(aCtor) && aCtor instanceof aCtor &&
                               _.isFunction(bCtor) && bCtor instanceof bCtor)
                          && ('constructor' in a && 'constructor' in b)) {
        return false;
      }
    }
    // Assume equality for cyclic structures. The algorithm for detecting cyclic
    // structures is adapted from ES 5.1 section 15.12.3, abstract operation `JO`.

    // Initializing stack of traversed objects.
    // It's done here since we only need them for objects and arrays comparison.
    aStack = aStack || [];
    bStack = bStack || [];
    var length = aStack.length;
    while (length--) {
      // Linear search. Performance is inversely proportional to the number of
      // unique nested structures.
      if (aStack[length] === a) return bStack[length] === b;
    }

    // Add the first object to the stack of traversed objects.
    aStack.push(a);
    bStack.push(b);

    // Recursively compare objects and arrays.
    if (areArrays) {
      // Compare array lengths to determine if a deep comparison is necessary.
      length = a.length;
      if (length !== b.length) return false;
      // Deep compare the contents, ignoring non-numeric properties.
      while (length--) {
        if (!eq(a[length], b[length], aStack, bStack)) return false;
      }
    } else {
      // Deep compare objects.
      var keys = _.keys(a), key;
      length = keys.length;
      // Ensure that both objects contain the same number of properties before comparing deep equality.
      if (_.keys(b).length !== length) return false;
      while (length--) {
        // Deep compare each member
        key = keys[length];
        if (!(_.has(b, key) && eq(a[key], b[key], aStack, bStack))) return false;
      }
    }
    // Remove the first object from the stack of traversed objects.
    aStack.pop();
    bStack.pop();
    return true;
  };

  // Perform a deep comparison to check if two objects are equal.
  _.isEqual = function(a, b) {
    return eq(a, b);
  };

  // Is a given array, string, or object empty?
  // An "empty" object has no enumerable own-properties.
  _.isEmpty = function(obj) {
    if (obj == null) return true;
    if (isArrayLike(obj) && (_.isArray(obj) || _.isString(obj) || _.isArguments(obj))) return obj.length === 0;
    return _.keys(obj).length === 0;
  };

  // Is a given value a DOM element?
  _.isElement = function(obj) {
    return !!(obj && obj.nodeType === 1);
  };

  // Is a given value an array?
  // Delegates to ECMA5's native Array.isArray
  _.isArray = nativeIsArray || function(obj) {
    return toString.call(obj) === '[object Array]';
  };

  // Is a given variable an object?
  _.isObject = function(obj) {
    var type = typeof obj;
    return type === 'function' || type === 'object' && !!obj;
  };

  // Add some isType methods: isArguments, isFunction, isString, isNumber, isDate, isRegExp, isError.
  _.each(['Arguments', 'Function', 'String', 'Number', 'Date', 'RegExp', 'Error'], function(name) {
    _['is' + name] = function(obj) {
      return toString.call(obj) === '[object ' + name + ']';
    };
  });

  // Define a fallback version of the method in browsers (ahem, IE < 9), where
  // there isn't any inspectable "Arguments" type.
  if (!_.isArguments(arguments)) {
    _.isArguments = function(obj) {
      return _.has(obj, 'callee');
    };
  }

  // Optimize `isFunction` if appropriate. Work around some typeof bugs in old v8,
  // IE 11 (#1621), and in Safari 8 (#1929).
  if (typeof /./ != 'function' && typeof Int8Array != 'object') {
    _.isFunction = function(obj) {
      return typeof obj == 'function' || false;
    };
  }

  // Is a given object a finite number?
  _.isFinite = function(obj) {
    return isFinite(obj) && !isNaN(parseFloat(obj));
  };

  // Is the given value `NaN`? (NaN is the only number which does not equal itself).
  _.isNaN = function(obj) {
    return _.isNumber(obj) && obj !== +obj;
  };

  // Is a given value a boolean?
  _.isBoolean = function(obj) {
    return obj === true || obj === false || toString.call(obj) === '[object Boolean]';
  };

  // Is a given value equal to null?
  _.isNull = function(obj) {
    return obj === null;
  };

  // Is a given variable undefined?
  _.isUndefined = function(obj) {
    return obj === void 0;
  };

  // Shortcut function for checking if an object has a given property directly
  // on itself (in other words, not on a prototype).
  _.has = function(obj, key) {
    return obj != null && hasOwnProperty.call(obj, key);
  };

  // Utility Functions
  // -----------------

  // Run Underscore.js in *noConflict* mode, returning the `_` variable to its
  // previous owner. Returns a reference to the Underscore object.
  _.noConflict = function() {
    root._ = previousUnderscore;
    return this;
  };

  // Keep the identity function around for default iteratees.
  _.identity = function(value) {
    return value;
  };

  // Predicate-generating functions. Often useful outside of Underscore.
  _.constant = function(value) {
    return function() {
      return value;
    };
  };

  _.noop = function(){};

  _.property = property;

  // Generates a function for a given object that returns a given property.
  _.propertyOf = function(obj) {
    return obj == null ? function(){} : function(key) {
      return obj[key];
    };
  };

  // Returns a predicate for checking whether an object has a given set of
  // `key:value` pairs.
  _.matcher = _.matches = function(attrs) {
    attrs = _.extendOwn({}, attrs);
    return function(obj) {
      return _.isMatch(obj, attrs);
    };
  };

  // Run a function **n** times.
  _.times = function(n, iteratee, context) {
    var accum = Array(Math.max(0, n));
    iteratee = optimizeCb(iteratee, context, 1);
    for (var i = 0; i < n; i++) accum[i] = iteratee(i);
    return accum;
  };

  // Return a random integer between min and max (inclusive).
  _.random = function(min, max) {
    if (max == null) {
      max = min;
      min = 0;
    }
    return min + Math.floor(Math.random() * (max - min + 1));
  };

  // A (possibly faster) way to get the current timestamp as an integer.
  _.now = Date.now || function() {
    return new Date().getTime();
  };

   // List of HTML entities for escaping.
  var escapeMap = {
    '&': '&amp;',
    '<': '&lt;',
    '>': '&gt;',
    '"': '&quot;',
    "'": '&#x27;',
    '`': '&#x60;'
  };
  var unescapeMap = _.invert(escapeMap);

  // Functions for escaping and unescaping strings to/from HTML interpolation.
  var createEscaper = function(map) {
    var escaper = function(match) {
      return map[match];
    };
    // Regexes for identifying a key that needs to be escaped
    var source = '(?:' + _.keys(map).join('|') + ')';
    var testRegexp = RegExp(source);
    var replaceRegexp = RegExp(source, 'g');
    return function(string) {
      string = string == null ? '' : '' + string;
      return testRegexp.test(string) ? string.replace(replaceRegexp, escaper) : string;
    };
  };
  _.escape = createEscaper(escapeMap);
  _.unescape = createEscaper(unescapeMap);

  // If the value of the named `property` is a function then invoke it with the
  // `object` as context; otherwise, return it.
  _.result = function(object, property, fallback) {
    var value = object == null ? void 0 : object[property];
    if (value === void 0) {
      value = fallback;
    }
    return _.isFunction(value) ? value.call(object) : value;
  };

  // Generate a unique integer id (unique within the entire client session).
  // Useful for temporary DOM ids.
  var idCounter = 0;
  _.uniqueId = function(prefix) {
    var id = ++idCounter + '';
    return prefix ? prefix + id : id;
  };

  // By default, Underscore uses ERB-style template delimiters, change the
  // following template settings to use alternative delimiters.
  _.templateSettings = {
    evaluate    : /<%([\s\S]+?)%>/g,
    interpolate : /<%=([\s\S]+?)%>/g,
    escape      : /<%-([\s\S]+?)%>/g
  };

  // When customizing `templateSettings`, if you don't want to define an
  // interpolation, evaluation or escaping regex, we need one that is
  // guaranteed not to match.
  var noMatch = /(.)^/;

  // Certain characters need to be escaped so that they can be put into a
  // string literal.
  var escapes = {
    "'":      "'",
    '\\':     '\\',
    '\r':     'r',
    '\n':     'n',
    '\u2028': 'u2028',
    '\u2029': 'u2029'
  };

  var escaper = /\\|'|\r|\n|\u2028|\u2029/g;

  var escapeChar = function(match) {
    return '\\' + escapes[match];
  };

  // JavaScript micro-templating, similar to John Resig's implementation.
  // Underscore templating handles arbitrary delimiters, preserves whitespace,
  // and correctly escapes quotes within interpolated code.
  // NB: `oldSettings` only exists for backwards compatibility.
  _.template = function(text, settings, oldSettings) {
    if (!settings && oldSettings) settings = oldSettings;
    settings = _.defaults({}, settings, _.templateSettings);

    // Combine delimiters into one regular expression via alternation.
    var matcher = RegExp([
      (settings.escape || noMatch).source,
      (settings.interpolate || noMatch).source,
      (settings.evaluate || noMatch).source
    ].join('|') + '|$', 'g');

    // Compile the template source, escaping string literals appropriately.
    var index = 0;
    var source = "__p+='";
    text.replace(matcher, function(match, escape, interpolate, evaluate, offset) {
      source += text.slice(index, offset).replace(escaper, escapeChar);
      index = offset + match.length;

      if (escape) {
        source += "'+\n((__t=(" + escape + "))==null?'':_.escape(__t))+\n'";
      } else if (interpolate) {
        source += "'+\n((__t=(" + interpolate + "))==null?'':__t)+\n'";
      } else if (evaluate) {
        source += "';\n" + evaluate + "\n__p+='";
      }

      // Adobe VMs need the match returned to produce the correct offest.
      return match;
    });
    source += "';\n";

    // If a variable is not specified, place data values in local scope.
    if (!settings.variable) source = 'with(obj||{}){\n' + source + '}\n';

    source = "var __t,__p='',__j=Array.prototype.join," +
      "print=function(){__p+=__j.call(arguments,'');};\n" +
      source + 'return __p;\n';

    try {
      var render = new Function(settings.variable || 'obj', '_', source);
    } catch (e) {
      e.source = source;
      throw e;
    }

    var template = function(data) {
      return render.call(this, data, _);
    };

    // Provide the compiled source as a convenience for precompilation.
    var argument = settings.variable || 'obj';
    template.source = 'function(' + argument + '){\n' + source + '}';

    return template;
  };

  // Add a "chain" function. Start chaining a wrapped Underscore object.
  _.chain = function(obj) {
    var instance = _(obj);
    instance._chain = true;
    return instance;
  };

  // OOP
  // ---------------
  // If Underscore is called as a function, it returns a wrapped object that
  // can be used OO-style. This wrapper holds altered versions of all the
  // underscore functions. Wrapped objects may be chained.

  // Helper function to continue chaining intermediate results.
  var result = function(instance, obj) {
    return instance._chain ? _(obj).chain() : obj;
  };

  // Add your own custom functions to the Underscore object.
  _.mixin = function(obj) {
    _.each(_.functions(obj), function(name) {
      var func = _[name] = obj[name];
      _.prototype[name] = function() {
        var args = [this._wrapped];
        push.apply(args, arguments);
        return result(this, func.apply(_, args));
      };
    });
  };

  // Add all of the Underscore functions to the wrapper object.
  _.mixin(_);

  // Add all mutator Array functions to the wrapper.
  _.each(['pop', 'push', 'reverse', 'shift', 'sort', 'splice', 'unshift'], function(name) {
    var method = ArrayProto[name];
    _.prototype[name] = function() {
      var obj = this._wrapped;
      method.apply(obj, arguments);
      if ((name === 'shift' || name === 'splice') && obj.length === 0) delete obj[0];
      return result(this, obj);
    };
  });

  // Add all accessor Array functions to the wrapper.
  _.each(['concat', 'join', 'slice'], function(name) {
    var method = ArrayProto[name];
    _.prototype[name] = function() {
      return result(this, method.apply(this._wrapped, arguments));
    };
  });

  // Extracts the result from a wrapped and chained object.
  _.prototype.value = function() {
    return this._wrapped;
  };

  // Provide unwrapping proxy for some methods used in engine operations
  // such as arithmetic and JSON stringification.
  _.prototype.valueOf = _.prototype.toJSON = _.prototype.value;

  _.prototype.toString = function() {
    return '' + this._wrapped;
  };

  // AMD registration happens at the end for compatibility with AMD loaders
  // that may not enforce next-turn semantics on modules. Even though general
  // practice for AMD registration is to be anonymous, underscore registers
  // as a named module because, like jQuery, it is a base library that is
  // popular enough to be bundled in a third party lib, but not be part of
  // an AMD load request. Those cases could generate an error when an
  // anonymous define() is called outside of a loader request.
  if (typeof define === 'function' && define.amd) {
    define('underscore', [], function() {
      return _;
    });
  }
}.call(this));

},{}],5:[function(require,module,exports){
/*!
 * 
 * 3dRudder v1.0.0                                                  
 * https://github.com/3DRudder/3dRudderjs                                        
 *                                                                             
 * Copyright 2017 3dRudder, Inc. and other contributors                      
 * Released under the MIT license                                     
 * https://github.com/3DRudder/3dRudderjs/blob/master/LICENSE                 
 */

 /**
 * AxesParam object.
 * 
 * @namespace
 */
var AxesParam = function() {  
    /**
     * Value for default curves by axis
     * @type {curves}
     * @prop {float} leftright
     *  Represent the right/left axis [-1,1]
     * @prop {float} forwardbackward
     *  Represent the forward/backward axis [-1,1]          
     * @prop {float} updown
     *  Represent the up/down axis [-1,1]
     * @prop {float} rotation
     *  Represent the rotation right/left axis [-1,1]
     * @prop {object} curve
     *      @prop {float} deadzone
     *      Represent the deadzone
     *      @prop {float} xSat
     *      Represent the saturation of X value
     *      @prop {float} yMax
     *      Represent the maximum of Y value
     *      @prop {float} exp
     *      Represent the exponentiel of curve
    */
   this.curves = {
        leftright: {deadzone: 0.15, xSat: 1.0, exp: 1.0},
        forwardbackward: {deadzone: 0.15, xSat: 1.0, exp: 1.0},                
        updown: {deadzone: 0.15, xSat: 1.0, exp: 1.0},
        rotation: {deadzone: 0.15, xSat: 1.0, exp: 1.0},
    }

   /**
     * Roll to Yaw compensation
     * @type {integer}
    */
   this.roll2YawCompensation = 0.0;

   /**
     * Non Symmetrical Pitch
     * @type {integer}
    */
   this.nonSymmetricalPitch = true;
}

//_.extend(Controller.prototype, EventEmitter.prototype);

module.exports = AxesParam;
},{}],6:[function(require,module,exports){
/*!
 * 
 * 3dRudder v1.0.0                                                  
 * https://github.com/3DRudder/3dRudderjs                                        
 *                                                                             
 * Copyright 2017 3dRudder, Inc. and other contributors                      
 * Released under the MIT license                                     
 * https://github.com/3DRudder/3dRudderjs/blob/master/LICENSE                 
 */
var _ = require('underscore')
, EventEmitter = require('events').EventEmitter
, AxesParam = require('./axesparam')

/**
 * Controller object.
 * 
 * @namespace
 */
var Controller = function() {    
    /**
     * Axes param
     * @type {AxesParam}
    */
    this.axesParam = new AxesParam();

    this.default();
}

/**
 * Init function.
 * @private
 * @param {SDK} SDK
 *   SDK object
 * @param {object} device
 *   All infos of connected device.
*/
Controller.prototype.init = function(SDK, device) {
    if (device.connected) {
        this.SDK = SDK;
        this.port = device.port;
        this.firmware = device.firmware;
        this.connected = device.connected;
        //this.status = device.status;
        //this.freeze = device.freeze;
        //this.hide = device.hide;
        this.on('status', function(status) {            
            this.SDK.emit('statusDevice', status, this.port);
        });

        // on freeze
        this.on('frozen', function(code, freeze) {
            if (code == 0)
                this.freeze = freeze;
            if (this.onFrozen)
                this.onFrozen(code, this.freeze);
            this.onFrozen = null;
        });

        // on hide
        this.on('hidden', function(code, hide) {
            if (code == 0)
                this.hide = hide;
            if (this.onHidden)
                this.onHidden(code, this.hide);
            this.onHidden = null;
        });
        
        // on play sound
        this.on('playedSound', function(code) {        
            if (this.onPlayedSound)
                this.onPlayedSound(code);
            this.onPlayedSound = null;
        });

        // on play sound with tones
        this.on('playedSoundTones', function(code) {        
            if (this.onPlayedSoundTones)
                this.onPlayedSoundTones(code);
            this.onPlayedSoundTones = null;
        });

        // Set AxesParam
        this.setAxesParam(this.axesParam);        
        //this.setCurves(this.curves)
    } else {
        this.default();        
    }
}

/**
 * Update function.
 * @private
 * @param {SDK} SDK
 *   SDK object
 * @param {object} device
 *   All infos of connected device.
*/
Controller.prototype.update = function(controller) {
    if (controller.error) {
        console.log("error update controller " + error);
    }
    else {
        this.sensors = controller.sensors;
        this.axis = controller.axis;
        if (controller.status != this.status) {
            this.emit('status', controller.status);
        }
        this.status = controller.status;
    }
}

/**
 * Controller constructor with default properties.
 * @private
 * @constructor
 */
Controller.prototype.default = function () {
    /**
     * SDK object
     * @type {SDK}
    */
    this.SDK = null;
    /**
     * the port of controller
     * @type {integer}
    */
    this.port = -1;
    /**
     * firmware's version
     * @type {integer}
    */
    this.firmware = 0;
    /**
     * controller's status
     * @type {integer}
    */
    this.status = 0;
    /**
     * if controller is connected
     * @type {boolean}
    */
    this.connected = false;
    /**
     * if controller is frozen
     * @type {boolean}
    */
    this.freeze = false;
    /**
     * if controller is hidden
     * @type {boolean}
    */
    this.hide = false;
    /**
     * 6 sensor's value of controller
     * value is the force on the sensor (in grams)
     * @type {Array[integer]}
    */
    this.sensors = [0,0,0,0,0,0];
    /**
     * Value for each axis
     * @type {Axis}
     * @prop {float} forwardbackward
     *  Represent the forward/backward axis [-1,1]
     * @prop {float} leftright
     *  Represent the right/left axis [-1,1]     
     * @prop {float} updown
     *  Represent the up/down axis [-1,1]
     * @prop {float} rotation
     *  Represent the rotation right/left axis [-1,1]
    */
    this.axis = {        
        leftright: 0,
        forwardbackward: 0,        
        updown: 0,
        rotation: 0,
    };
    // events
    this.removeAllListeners('status');
    this.removeAllListeners('frozen');
    this.removeAllListeners('hidden');
    this.removeAllListeners('playedSound');
    this.removeAllListeners('playedSoundTones');
        
    this.onFrozen = null;
    this.onHidden = null;
    this.onPlayedSound = null;
    this.onPlayedSoundTones = null;
}

/**
 * Send message to server.
 * @private
 * @param {json} data
 */
Controller.prototype.sendMessage = function(data) {
    if (this.SDK && this.SDK.connection) {        
        // send function to server
        this.SDK.connection.send(JSON.stringify(data));
        return true;
    }
    return false;
}

/**
 * Set Axes Param
 *
 * @param {AxesParam} axesParam
*/
Controller.prototype.setAxesParam = function(axesParam) {
    var data = {
        message: "axesParam",
        port: this.port,
        value: axesParam            
    }
    if (this.sendMessage(data)) {        
        this.axesParam = axesParam;        
    }       
}

/**
 * Set curves
 *
 * @param {Object} curves
 *  Curves {pitch, roll, yaw, updown}
*/
Controller.prototype.setCurves = function(curves) {
    var data = {
        message: "curves",
        port: this.port,
        value: curves            
    }
    if (this.sendMessage(data)) {        
        this.axesParam.curves = curves;        
    }        
}

/**
 * Set curve
 *
 * @param {string} axis
 *  Type [pitch, roll, yaw, updown]
 * @param {Object} curve
 *  Curve {deadzone, xSat, yMax, exp}
*/
Controller.prototype.setCurve = function(axis, curve) {
    var data = {
        message: "curve",
        port: this.port,
        axis: axis,
        value: curve            
    }
    if (this.sendMessage(data)) {        
        this.axesParam.curves[axis] = curve;        
    }        
}

/**
 * Freeze/Unfreeze the 3dRudder.
 *
 * @param {boolean} freeze
 *   if true freeze, else unfreeze
 * @param {function} callback
 *  callback when the controller is frozen
 * @param code
 *  the error code of command 'freeze' (0=success)
 * @param freeze
 *  freeze's value
*/
Controller.prototype.setFreeze = function(freeze, callback) {
    var data = {
        message: "freeze",
        port: this.port,
        value: freeze            
    }
    if (this.sendMessage(data)) {        
        this.onFrozen = callback;        
    } else {
        callback(1, false); // no connected
    }        
}

/**
 * Hide/Unhide the 3dRudder.
 *
 * @param {boolean} hide
 *   if true hide, else unhide
 * @param {function} callback
 *  callback when the controller is hidden
 * @param code
 *  the error code of command 'hide' (0=success)
 * @param freeze
 *  hide's value
*/
Controller.prototype.setHide = function(hide, callback) {
    console.log('set hide =' + hide);
    var data = {
        message: "hide",
        port: this.port,
        value: hide            
    }
    if (this.sendMessage(data)) {
        this.onHidden = callback;        
    } else {
        callback(1, false); // no connected
    }  
}

/**
 * Play sound on 3dRudder.
 *
 * @param {integer} frequency
 *   frequency in Hz
 * @param {integer} duration
 *  duration in ms
 * @param {function} callback
 *  callback when the playsound command is launched
 * @param code
 *  the error code of command 'hide' (0=success)
*/
Controller.prototype.playSound = function(frequency, duration, callback) {
    console.log('play sound ');
    var data = {
        message: "playsound",
        port: this.port,
        frequency: frequency,
        duration: duration
    }
    if (this.sendMessage(data)) {
        this.onPlayedSound = callback;
    } else {
        callback(1); // no connected
    }   
}

/**
 * Play sound with tones on 3dRudder.
 *
 * @param {string} tones
 *  tones "Note OctaveNumber (Duration of Tone, Pause after Tone)"
 * @param {function} callback
 *  callback when the playsound command is launched
 * @param code
 *  the error code of command 'hide' (0=success)
*/
Controller.prototype.playSoundTones = function(tones, callback) {
    console.log('play sound tones');
    var data = {
        message: "playsoundtones",
        port: this.port,
        tones: tones
    }
    if (this.sendMessage(data)) {
        this.onPlayedSoundTones = callback;
    } else {
        callback(1); // no connected
    }     
}

_.extend(Controller.prototype, EventEmitter.prototype);

module.exports = Controller;
},{"./axesparam":5,"events":3,"underscore":4}],7:[function(require,module,exports){
(function (process){
/*!
 * 
 * 3dRudder v1.0.0                                                  
 * https://github.com/3DRudder/3dRudderjs                                        
 *                                                                             
 * Copyright 2017 3dRudder, Inc. and other contributors                      
 * Released under the MIT license                                     
 * https://github.com/3DRudder/3dRudderjs/blob/master/LICENSE                 
*/

var isNode = (typeof(process) !== 'undefined' && process.versions && process.versions.node);
// use Websocket for brower and ws for node.js
var WebSocket = isNode ? require('ws') : (window.WebSocket || window.MozWebSocket)
    , _ = require('underscore')
    , EventEmitter = require('events').EventEmitter
    , Controller = require('./controller');

/**
 * Sdk constructor.
 * 
 * @namespace
 * @constructor
*/
var Sdk = function(opts) {
    opts = opts || {};
    /**
     * the host of server
     * @type {url}
    */
    this.host = opts.host || '127.51.100.82';
    /**
     * the port of server by default 15698
     * @type {integer}
    */
    this.port = opts.port || 15698;
    /**
     * the scheme for websocket protocol
     * @type {string}
    */
    this.schemeWs = opts.schemeWs || 'wss';
    /**
     * the scheme for http protocol
     * @type {string}
    */
    this.schemeHttp = opts.schemeHttp || 'http';
    /**
     * try to reconnect in ms
     * @type {bool}
    */
   this.autoReconnect = false;
    /**
     * the time to try to reconnect in ms
     * @type {integer}
    */
    this.autoReconnectInterval = 5*1000;
    // SDK params
    this.default();

    /**
     * Error code
     * @type {array[string]}
    */
    this.ERROR = ["Success", "Not connected", "Fail", "Incorrect command", "Timeout", "DeviceNotSupported", "DeviceInitError", "ValidationError",
     "ValidationTimeOut", "Not ready", "FirmwareNeedToBeUpdated", "NotInitialized", "NotSupported", "DashboardInstallError", "DashboardUpdateError"];

    /**
     * Status of 3dRudder
     * @type {array[string]}
    */
    this.STATUS = ["No status", "No foot stay still", "Initialisation", "Put your feet", "Put second foot", "Stay still", "In use", "Frozen"/*253*/, "IsNotConnected"/*254*/];

    /**
     * Axes of 3dRudder
     * @type {array[string]}
    */    
    this.AXES = {LeftRight: 0, ForwardBackward: 1, UpDown: 2, Rotation: 3};    

    /**
     * 4 controllers max
     * @type {array[Controller]}
    */
    this.controllers = [new Controller(), new Controller(), new Controller(), new Controller()];    

    /* List of events */
    // type: init
    this.on('init', function(e) {
        console.log(`uid client ${e.uid} version ${e.version} number connected ${e.numberConnected}`);
        this.uid = e.uid;
        this.version = e.version;
        // TODO: maybe refresh this counter
        this.numberConnected = e.numberConnected;
    });

    // type: connectedDevice
    this.on('connectedDevice', function(device) {
        console.log(`device port ${device.port} firmware ${device.firmware} connected ${device.connected}`);
        this.controllers[device.port].init(this, device);
    });

    // type: freeze
    this.on('frozen', function(device) {
        console.log(`device port ${device.port} freeze ${device.freeze}`);
        this.controllers[device.port].emit('frozen', device.code, device.freeze)
    });

    // type: hide
    this.on('hidden', function(device) {
        console.log(`device port ${device.port} hide ${device.hide}`);
        this.controllers[device.port].emit('hidden', device.code, device.hide)
    });

    // type: play sound
    this.on('playedSound', function(device) {
        console.log(`device port ${device.port} error ${this.getErrorString(device.code)}`);
        this.controllers[device.port].emit('playedSound', device.code)
    });
    this.on('playedSoundTones', function(device) {
        console.log(`device port ${device.port} error ${this.getErrorString(device.code)}`);
        this.controllers[device.port].emit('playedSoundTones', device.code)
    });

    // type: frame
    this.on('frame', function(frame) {
        //console.log(`frame ${JSON.stringify(frame)} controllers ${JSON.stringify(this.controllers)}`);
        var _this = this;
        frame.controllers.forEach( function(controller, index, array) {
            //console.log(`controllers ${JSON.stringify(_this.controllers[0])}`);
            if (controller.connected) {
                _this.controllers[index].update(controller);
            }
        });        
    });

    this.on('error', function(error) {
        console.log(`error ${error.message}`);
    });

    this.on('end', function(device) {
        this.controllers.forEach( function(controller) {           
            controller.default();
        });
    });
}

/**
 * Sdk default
 * @private
*/
Sdk.prototype.default = function () {
    this.uid = 0;
    this.version = 0;
    this.numberConnected = 0;
}

/**
 * Get the complete websocket url
 * @private
 * @return {url}
*/
Sdk.prototype.getWsUrl = function () {
    return `${this.schemeWs}://${this.host}:${this.port}`;
}

/**
 * Get the complete http url
 * @private
 * @return {url}
*/
Sdk.prototype.getHttpUrl = function () {
    return this.schemeHttp + "://" + this.host + ":" + this.port;
}

/**
 * Get the status in string format
 *
 * @return {string}
*/
Sdk.prototype.getStatusString = function (code) {
    return this.STATUS[code];
}

/**
 * Get the error code in string format
 *
 * @return {string}
*/
Sdk.prototype.getErrorString = function (code) {
    return this.ERROR[code];
}

/**
 * Setup the connection (websocket and http)
 * @private
 * @return {string}
*/
// TODO: create connection object to manager websocket and http request
Sdk.prototype.setupConnection = function () {
    // 2 tricks to get this in function
    // 1) save this in variable _this
    // 2) use .bind(this) like onMessage
    var _this = this;
    var connection = new WebSocket(this.getWsUrl());
    this.connection = connection;
    connection.onopen = function(event) { 
        console.log('onopen ' + event);
    };    
    connection.onmessage = this.onMessage.bind(this);
    connection.onclose = function(e) { 
        // TODO: maybe emit event connected device = false
        _this.default();
        _this.emit('end');
        console.log('onclose ' + e['code'] + ' reason ' + e['reason']);
        switch (e['code']) {
            case 1000:	// CLOSE_NORMAL
                console.log("WebSocket: closed");
                break;
            default:	// Abnormal closure
                if (_this.autoReconnect)
                    _this.reconnect(e);
                break;
        } 
    };
    connection.onerror = function(error) {        
        //_this.emit('error', new error);
        console.log('onerror ' + error );         
    };
}

/**
 * Try to reconnect
 * @private
 * @param {error} e
*/
Sdk.prototype.reconnect = function(e) {
    this.connection = null;
    var that = this;
	setTimeout(function() {
		console.log("WebSocketClient: reconnecting...");
		that.setupConnection();
	},this.autoReconnectInterval);
}

/**
 * Event when the server sends a message
 * @private
 * @event
 * @param {object} message
 *  the message contains the json data
*/
Sdk.prototype.onMessage = function (message) {
    //console.log(message.data);
    try {
        var msg = JSON.parse(message.data);
        // send event with type and json data        
        this.emit(msg.event, msg);
    } catch (e) {
        console.error("Parsing error:", e); 
    }
}

/**
 * Stop the connection
 * @private
*/
Sdk.prototype.stopConnection = function () {
    if (this.connection) {
        this.connection.close();
    }
}

/**
 * Init the SDK
 * @function
 * this function must be call at first
*/
Sdk.prototype.init = function () {
    console.log('init SDK');    
    this.setupConnection();
}

/**
 * Stop the SDK
 * @function
 * stop the connection with the server
*/
Sdk.prototype.stop = function () {
    console.log('end SDK');
    this.stopConnection();
}

/**
 * Play sound on 3dRudder.
 *
 * @param {integer} port
 *   port's number
 * @param {integer} frequency
 *   frequency in Hz
 * @param {integer} duration
 *  duration in ms
 * @param {function} callback
 *  callback when the playsound command is launched
 * @param code
 *  the error code of command 'hide' (0=success)
*/
Sdk.prototype.playSound = function (port, frequency, duration, callback) {
    console.log('play sound SDK');
    this.controllers[port].playSound(frequency, duration, callback);
}

/**
 * Play sound with tones on 3dRudder.
 * 
 * @param {integer} port
 *   port's number
 * @param {string} tones
 *  tones "Note OctaveNumber (Duration of Tone, Pause after Tone)"
 * @param {function} callback
 *  callback when the playsound command is launched
 * @param code
 *  the error code of command 'hide' (0=success)
*/
Sdk.prototype.playSoundTones = function (port, tones, callback) {
    console.log('play sound tones SDK');
    this.controllers[port].playSoundTones(tones, callback);
}

/**
 * Freeze/Unfreeze the 3dRudder.
 *
 * @param {integer} port
 *   port's number
 * @param {boolean} freeze
 *   if true freeze, else unfreeze
 * @param {function} callback
 *  callback when the controller is frozen
 * @param code
 *  the error code of command 'freeze' (0=success)
 * @param freeze
 *  freeze's value
*/
Sdk.prototype.freeze = function (port, freeze, callback) {
    console.log('freeze SDK');
    this.controllers[port].setFreeze(freeze, callback);
}

/**
 * Hide/Unhide the 3dRudder.
 *  
 * @param {integer} port
 *   port's number
 * @param {boolean} hide
 *   if true hide, else unhide
 * @param {function} callback
 *  callback when the controller is hidden
 * @param code
 *  the error code of command 'hide' (0=success)
 * @param freeze
 *  hide's value
*/
Sdk.prototype.hide = function (port, hide, callback) {
    console.log('hide SDK');
    this.controllers[port].setHide(hide, callback);
}

_.extend(Sdk.prototype, EventEmitter.prototype);

module.exports = Sdk;
}).call(this,require('_process'))
},{"./controller":6,"_process":2,"events":3,"underscore":4,"ws":1}]},{},[7])(7)
});